Tunnel face blast hole positioning laser projection method and system based on multi-modal image recognition

Abstract

The invention relates to the technical field of tunnel blasting, in particular to a tunnel face blast hole positioning laser projection method and system based on multi-modal image recognition, and the method comprises the steps: obtaining an original image of a tunnel face and the position information of a laser projector during tunnel construction; preprocessing the original image to obtain a preprocessed image; extracting a tunnel face contour from the preprocessed image, and extracting a center line of a tunnel face from the tunnel face contour; determining initial hole position coordinates of the plurality of blast holes based on the center line, and performing coordinate conversion on the initial hole position coordinates to obtain a projection angle of the laser projector; and controlling a laser projector to project the blast hole position to the tunnel face based on the projection angle. According to the method, the tunnel face image is obtained, and contour extraction, center line analysis, initial hole position coordinate determination and coordinate conversion are performed on the tunnel face image, so that the blast hole position is directly projected to the tunnel face, and the technical problems that the drilling position is difficult to accurately control during manual drilling and the actual drilling position is easy to deviate from the design position are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel blasting, in particular to a tunnel face hole positioning laser projection method and system based on multi-modal image recognition. BACKGROUND

[0002] Drilling and blasting method, that is, a method of drilling, charging and blasting to excavate rock. At present, drilling and blasting method is still one of the most common methods for mountain tunnel blasting construction, and the drilling quality in drilling and blasting method directly relates to the blasting effect. In the prior art, drilling construction is completed by manual operation of a drill. Before manual drilling, the site will position the blast hole by manual measurement according to the blasting design scheme, and such blast hole positioning often has a large deviation from the designed hole position. Although there are many ways to position the blast hole by laser at present, the existing laser projection in the field construction mainly focuses on static projection and simple grid. In most engineering construction environments, factors such as drill vibration, long drill rod and hard face rock make it difficult for manual drilling to accurately control the drilling position, and the drill bit is prone to deviation, thereby resulting in low quality of manual drilling and large deviation of the blast hole. This is an important reason for poor tunnel smooth blasting effect, serious overbreak and large damage to surrounding rock. SUMMARY

[0003] Therefore, the present application aims to provide a tunnel face hole positioning laser projection method and system based on multi-modal image recognition to solve the problems in the background art.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] The tunnel face hole positioning laser projection method based on multi-modal image recognition of the present application comprises the following steps:

[0006] Obtaining the original image of the face and the position information of the laser projector during tunnel construction;

[0007] Preprocessing the original image to obtain a preprocessed image, wherein the preprocessing method includes denoising, contrast enhancement and gray scale conversion;

[0008] Extracting the face contour from the preprocessed image and extracting the center line of the face from the face contour;

[0009] Determining the initial hole position coordinates of a plurality of blast holes based on the center line, and performing coordinate conversion on the initial hole position coordinates to obtain the projection angle of the laser projector;

[0010] Controlling the laser projector to project the blast hole position to the face based on the projection angle.

[0011] In one embodiment of the present application, extracting the tunnel face contour from the pre-processed image includes:

[0012] Extracting a contour point set from the preprocessed image based on an improved Canny algorithm;

[0013] Ellipse fitting is performed on the contour point set to obtain the tunnel face contour.

[0014] In one embodiment of the present application, extracting the center line of the tunnel face from the tunnel face contour includes:

[0015] Extracting the coordinates of the center point of the ellipse of the tunnel face contour, and using a vertical line passing through the coordinates of the center point of the ellipse as an initial center line;

[0016] Sampling the tunnel face contours on both sides of the initial center line respectively to obtain sampling point coordinates;

[0017] Calculate the contour symmetry error of the left and right halves based on the coordinates of the sampling points on both sides of the initial midline , where the profile symmetry error The mathematical expression is:

[0018]

[0019] Where, is located to the left of the initial midline The coordinates of the sampling points, is located to the right of the initial midline The coordinates of the sampling points, represents the mirror transformation function based on the initial midline, is the number of sampling points;

[0020] The profile symmetry error The symmetry error of the contour is compared with the preset threshold value. When the value is less than or equal to a preset threshold, the initial center line is determined to be the center line of the tunnel face.

[0021] In one embodiment of the present application, determining the initial hole position coordinates of a plurality of blastholes based on the center line includes:

[0022] Based on the center line, a plurality of transverse baselines perpendicular to the center line and a plurality of longitudinal baselines parallel to the center line are generated on the palm face, wherein the plurality of longitudinal baselines are symmetrically distributed about the center line, and the spacing between adjacent transverse baselines and the spacing between adjacent longitudinal baselines are fixed values;

[0023] The intersection of the transverse baseline and the longitudinal baseline is used as the initial hole position coordinates of the multiple blastholes.

[0024] In an embodiment of the present application, the initial hole coordinate is converted to obtain the projection angle of the laser projector, including:

[0025] The initial hole coordinate is converted and the gimbal angle is calculated to obtain the initial projection angle.

[0026] The initial projection angle is compensated based on the real-time target ball calibration position of the laser projector to obtain the projection angle of the laser projector.

[0027] In an embodiment of the present application, the mathematical expression for converting the initial hole coordinate and calculating the gimbal angle is:

[0028]

[0029] In the formula, is the horizontal rotation angle of the projector, is the pitch angle of the projector, is the X-axis coordinate of the initial hole coordinate along the tunnel extension, is the Y-axis coordinate of the initial hole coordinate in the vertical direction, is the Z-axis coordinate of the initial hole coordinate perpendicular to the tunnel wall direction, is the installation position of the laser projector in the tunnel.

[0030] In an embodiment of the present application, the mathematical expression for compensating the initial projection angle is:

[0031]

[0032] is the compensated horizontal rotation angle of the projector, is the compensated pitch angle of the projector, is the calibration matrix, is the theoretical position of the target ball, is the measured position of the target ball.

[0033] The present application also provides a tunnel face blast hole positioning laser projection system based on multi-modal image recognition, characterized in that it comprises:

[0034] An acquisition module is configured to acquire the original image of the face and the position information of the laser projector during tunnel construction;

[0035] A preprocessing module is configured to preprocess the original image to obtain a preprocessed image, wherein the preprocessing methods include denoising, contrast enhancement, and grayscale conversion;

[0036] A centerline extraction module is configured to extract the face contour from the preprocessed image and extract the centerline of the face from the face contour;

[0037] a positioning module, configured to determine initial hole position coordinates of a plurality of blast holes based on the center line, and perform coordinate conversion on the initial hole position coordinates to obtain a projection angle of the laser projector;

[0038] a projection module, configured to control the laser projector to project the blast hole position to the tunnel face based on the projection angle.

[0039] The application also provides an electronic device, comprising a processor and a memory.

[0040] The memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory to enable the terminal to perform the method described above.

[0041] The application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method described above.

[0042] The application has the following beneficial effects: the tunnel face blast hole positioning laser projection method and system based on multi-modal image recognition provided by the application can obtain the original image of the tunnel face and the position information of the laser projector during tunnel construction, pre-process the original image to obtain a pre-processed image, extract the tunnel face contour from the pre-processed image, and extract the center line of the tunnel face from the tunnel face contour, determine the initial hole position coordinates of a plurality of blast holes based on the center line, perform coordinate conversion on the initial hole position coordinates to obtain the projection angle of the laser projector, and control the laser projector to project the blast hole position to the tunnel face based on the projection angle. The application can directly calculate the projection angle of the laser projector by obtaining the tunnel face image and performing contour extraction, center line analysis, initial hole position coordinate determination and coordinate conversion on the tunnel face image, so as to directly project the blast hole position to the tunnel face, thereby solving the technical problem that it is difficult to accurately control the drilling position when drilling manually and the actual drilling position is easy to deviate from the designed position. BRIEF DESCRIPTION OF DRAWINGS

[0043] The application will be further described below in combination with the drawings and embodiments:

[0044] Figure 1 is a flowchart of the tunnel face blast hole positioning laser projection method based on multi-modal image recognition shown in an embodiment of the application;

[0045] Figure 2 is a symmetry analysis diagram of the tunnel face contour in the application;

[0046] Figure 3 is a structural diagram of the tunnel face blast hole positioning laser projection system based on multi-modal image recognition shown in an embodiment of the application. DETAILED DESCRIPTION

[0047] The present application can be implemented or applied in other different specific embodiments, and various modifications or changes can be made to the details based on different views and applications without departing from the spirit of the present application. It should be noted that the following examples and features in the examples can be combined with each other without conflict.

[0048] It should be noted that the diagrams provided in the following examples only schematically illustrate the basic concept of the present application, and only the layers related to the present application are shown in the diagrams, not drawn according to the number, shape and size of the layers in actual implementation. The actual implementation of each layer can be a random change, and the layer layout pattern can be more complex.

[0049] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application, however, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details.

[0050] The projection system relied on by the tunnel face blast hole positioning laser projection method based on multi-modal image recognition in the present application comprises:

[0051] The image acquisition module: a high-resolution binocular camera and a near-infrared light supplement source; the near-infrared light supplement source is used for supplementing light to the tunnel face, and the high-resolution binocular camera is used for acquiring the image of the face after light supplement;

[0052] The calculation module: used for analyzing and processing the face image, and calculating the projection angle of the laser projector in combination with the position of the laser projection module.

[0053] The laser projection module: a high-precision laser projector, which is arranged in a two-degree-of-freedom holder and used for laser projection according to the calculated projection angle.

[0054] The calibration module: a reference calibration target ball installed on the side line of the tunnel, used for providing a correction reference to compensate the laser projection module in time.

[0055] Figure 1 The flowchart of the tunnel face blast hole positioning laser projection method based on multi-modal image recognition in an embodiment of the present application is shown in FIG. 1, which can comprise the steps of: Figure 1 The tunnel face blast hole positioning laser projection method based on multi-modal image recognition in the present embodiment can comprise the steps of:

[0056] S110, acquiring the original image of the face and the position information of the laser projector during tunnel construction;

[0057] The first step is to obtain a high-definition image of the excavation section (original image) by scanning the excavation section with a high-resolution binocular camera, and the position information of the laser projector is the installation coordinates of the laser projector.

[0058] S120, pre-processing the original image to obtain a pre-processed image, wherein the pre-processing method includes denoising, contrast enhancement and gray scale conversion;

[0059] Appropriate filtering methods (such as Gaussian filtering, median filtering, etc.) are used to remove noise interference in the image, which can improve the image quality. Through histogram equalization or other contrast enhancement algorithms, the visibility of image details can be improved. Color images are converted to grayscale images to reduce data dimensions and facilitate subsequent processing.

[0060] After the above pre-processing, the pre-processed image obtained is essentially the section data of the working face.

[0061] S130, extracting the working face profile from the pre-processed image, and extracting the center line of the working face from the working face profile;

[0062] The extraction process of the working face profile includes: extracting a set of contour points from the pre-processed image based on an improved Canny algorithm; then performing RANSAC ellipse fitting (eliminating local concave and convex) on the set of contour points to obtain the working face profile.

[0063] After performing ellipse fitting, the output ellipse parameters include: center point coordinates, major axis a, and minor axis b. The center point coordinates are the coordinates of the intersection of the major axis a and the minor axis b.

[0064] The process of extracting the center line of the working face from the working face profile includes:

[0065] S131, extracting the ellipse center point coordinates of the working face profile, and taking a vertical straight line passing through the ellipse center point coordinates as an initial center line;

[0066] The center point is taken as an initial center line candidate point, a vertical straight line passing through the initial center line candidate point is taken as an initial center line, and based on the initial center line, symmetry analysis can be performed on the working face profile to verify the centering degree of the initial center line.

[0067] S132, sampling the working face profile on both sides of the initial center line to obtain sample point coordinates;

[0068] Figure 2 The symmetry analysis diagram of the working face profile in this application is shown in FIG. 1. Figure 2As shown, when symmetry analysis is performed: a local coordinate system is established along the long axis direction of the ellipse, and then sampling points on both sides of the initial center line are collected respectively to calculate the symmetry error of the left and right half profiles.

[0069] S133, calculating the profile symmetry error of the left and right half sides based on the sampling point coordinates on both sides of the initial center line , wherein the profile symmetry error is mathematically expressed as:

[0070]

[0071] In the formula, is the coordinate of the sampling point on the left side of the initial center line, is the coordinate of the sampling point on the right side of the initial center line, is a mirror transformation function based on the initial center line, is the number of sampling points. In the above formula, the mirror transformation value of the position of the left sampling point and the position of the right sampling point is subtracted, and the difference values of all sampling points are accumulated to obtain the profile symmetry error . When the profile left and right symmetry is stronger, the profile symmetry error

[0072] value is smaller.

[0073] S134, comparing the profile symmetry error with a preset threshold, and determining that the initial center line is the center line of the working surface when the profile symmetry error is less than or equal to the preset threshold.

[0074] If the profile symmetry error is less than or equal to the preset threshold, it indicates that the symmetry of the left and right profiles based on the initial center line is strong, and therefore the initial center line is determined to be the center line of the working surface. If the profile symmetry error is greater than the preset threshold, the position of the initial center line can be adjusted, and the profile symmetry error is recalculated until the profile symmetry error is less than or equal to the preset threshold, and the center line position of the working surface is obtained.

[0075] S140, determining the initial hole position coordinates of a plurality of blast holes based on the center line, and performing coordinate conversion on the initial hole position coordinates to obtain the projection angle of the laser projector;

[0076] First, input the center line, working surface elevation, design blasting parameters and other data.

[0077] ​​A plurality of transverse base lines perpendicular to the center line and a plurality of longitudinal base lines parallel to the center line are generated on the tunnel face based on the center line, wherein the plurality of longitudinal base lines are symmetrically distributed with respect to the center line, and the interval of adjacent transverse base lines and the interval of adjacent longitudinal base lines are fixed values.

[0078] Specifically, the base line interval of the longitudinal base line is equal to the designed row spacing plus 0.3 cm, and the base line interval of the transverse base line is equal to the designed hole spacing plus or minus 0.5 cm.

[0079] The intersection points of the transverse base lines and the longitudinal base lines are taken as initial hole position coordinates (X ij , Y ij , Z ij ) of a plurality of blast holes, and finally, the final hole position coordinates are obtained after reasonable manual fine adjustment of the distributed hole positions.

[0080] S150, based on the projection angle, controlling the laser projector to project the blast hole position to the tunnel face.

[0081] Finally, in order to facilitate the drilling, the laser projector is used to project the blast hole position to the tunnel face, and the projection principle is: hole position coordinates→coordinate conversion→gimbal angle calculation→laser projection, which specifically includes:

[0082] S151, performing coordinate conversion and gimbal angle calculation on the initial empty position coordinates to obtain an initial projection angle, and the mathematical expression is:

[0083]

[0084] In the formula:

[0085] is a horizontal rotation angle of the projector, and the unit is radian, which is used to control the angle of left and right rotation of the gimbal

[0086] is a pitch angle of the projector, and the unit is radian, which is used to control the angle of upward and downward inclination of the gimbal;

[0087] is an X-axis coordinate along the tunnel extension in the initial empty position coordinates, and the unit is meter;

[0088] is a Y-axis coordinate in the vertical direction (elevation) in the initial empty position coordinates, and the unit is meter;

[0089] is a Z-axis coordinate perpendicular to the direction of the tunnel wall in the initial empty position coordinates, and the unit is meter;

[0090] The installation position of the laser projector in the tunnel is in meters, specifically the installation position of the projector in the tunnel.

[0091] In addition, the application further calibrates the target ball in real time (collecting the position of the target ball every 30 seconds and correcting the deviation), compensates the initial projection angle based on the real-time calibration position of the target ball of the laser projector, and obtains the projection angle of the laser projector, which is mathematically expressed as:

[0092]

[0093] In the formula, θx is the compensated horizontal rotation angle of the projector, in radians, and θx is the control signal actually sent to the holder.

[0094] θy is the compensated pitch angle of the projector, in radians, and θy is the control signal actually sent to the holder.

[0095] θy is the compensated pitch angle of the projector, in radians, and θy is the control signal actually sent to the holder.

[0096] is the calibration matrix, which is a dimensionless 2x3 matrix matrix, and is determined by calibrating multiple target ball positions.

[0097] is the theoretical position of the target ball, which is a three-dimensional vector of coordinates, for example

[0098] is the measured position of the target ball, which is a three-dimensional vector of coordinates, for example .

[0099] Through the above coordinate conversion, holder angle calculation, laser projection and real-time calibration, the blast hole position can be accurately projected to the working face, which is convenient for relevant personnel to perform hole opening according to the projection, so that the blast hole is more accurate.

[0100] The tunnel face blast hole positioning laser projection method based on multi-modal image recognition provided by the application obtains the original image of the face and the position information of the laser projector during tunnel construction, pre-processes the original image to obtain a pre-processed image, extracts the face contour from the pre-processed image, and extracts the center line of the face from the face contour, determines the initial hole coordinate of a plurality of blast holes based on the center line, and performs coordinate conversion on the initial hole coordinate to obtain the projection angle of the laser projector, and controls the laser projector to project the blast hole position to the face based on the projection angle. The application can directly calculate the projection angle of the laser projector by obtaining the face image and performing contour extraction, center line analysis, initial hole coordinate determination and coordinate conversion on the face image, and directly project the blast hole position to the face, thereby solving the technical problem that it is difficult to accurately control the drilling position when drilling manually and the actual drilling position is easy to deviate from the designed position.

[0101] As shown in Figure 3 The application also provides a tunnel face blast hole positioning laser projection system based on multi-modal image recognition, characterized in that it comprises:

[0102] An acquisition module for acquiring the original image of the face and the position information of the laser projector during tunnel construction;

[0103] A pre-processing module for pre-processing the original image to obtain a pre-processed image, wherein the pre-processing mode includes denoising, contrast enhancement and gray scale conversion;

[0104] A center line extraction module for extracting the face contour from the pre-processed image, and extracting the center line of the face from the face contour;

[0105] A positioning module for determining the initial hole coordinate of a plurality of blast holes based on the center line, and performing coordinate conversion on the initial hole coordinate to obtain the projection angle of the laser projector;

[0106] A projection module for controlling the laser projector to project the blast hole position to the face based on the projection angle.

[0107] The tunnel face blast hole positioning laser projection system based on multi-modal image recognition provided by the present application obtains the original image of the face and the position information of the laser projector during tunnel construction; the original image is preprocessed to obtain a preprocessed image; the face contour is extracted from the preprocessed image, and the center line of the face is extracted from the face contour; the initial hole coordinates of a plurality of blast holes are determined based on the center line, and the initial hole coordinates are converted to obtain the projection angle of the laser projector; and the laser projector is controlled based on the projection angle to project the blast hole position to the face. The present application can directly calculate the projection angle of the laser projector by obtaining the face image and performing contour extraction, center line analysis, initial hole coordinate determination and coordinate conversion, so as to project the blast hole position directly to the face, thereby solving the technical problem that it is difficult to accurately control the drilling position when drilling manually, and the actual drilling position is easy to deviate from the designed position.

[0108] The embodiment also provides an electronic terminal, comprising a processor and a memory.

[0109] The memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory, so that the terminal executes any method in the embodiment.

[0110] The computer readable storage medium in the embodiment can be understood by those skilled in the art that all or part of the steps of the above-mentioned method embodiments can be completed by the hardware of the computer program. The foregoing computer program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes ROM, RAM, magnetic disc or optical disc and various storage medium that can store program codes.

[0111] The electronic terminal provided by the embodiment includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected with the processor and the transceiver and complete communication between each other. The memory is configured to store a computer program, the communication interface is configured to communicate, and the processor and the transceiver are configured to run the computer program, so that the electronic terminal executes each step of the method.

[0112] In the embodiment, the memory can include random access memory (RAM) and can also include non-volatile memory, for example, at least one disk memory.

[0113] The processor described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0114] In the above-described embodiments, although the present application has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Embodiments of this application are intended to embrace all such alternatives, modifications and variations as can fall within the scope of the appended claims.

[0115] The above-described embodiments are merely illustrative for the principles and effects of the present application, but are not intended to limit the present application. Any modification or change made by any person skilled in the art without departing from the spirit and scope of the present application shall be covered by the claims of the present application.

Claims

1. A laser projection method for blasthole positioning at a tunnel face based on multimodal image recognition, characterized in that: Including steps: Obtain the original image of the tunnel face during tunnel construction and the position information of the laser projector; Preprocessing the original image to obtain a preprocessed image, wherein the preprocessing method includes denoising, contrast enhancement and grayscale conversion; Extracting a tunnel face contour from the preprocessed image, and extracting a centerline of the tunnel face from the tunnel face contour; Determining initial hole position coordinates of a plurality of blastholes based on the center line, and performing coordinate transformation on the initial hole position coordinates to obtain a projection angle of a laser projector; The laser projector is controlled based on the projection angle to project the blasthole position onto the tunnel face.

2. The laser projection method for blasthole positioning at a tunnel face based on multimodal image recognition according to claim 1, characterized in that: Extracting a tunnel face contour from the preprocessed image includes: Extracting a contour point set from the preprocessed image based on an improved Canny algorithm; Ellipse fitting is performed on the contour point set to obtain the tunnel face contour.

3. The laser projection method for blasthole positioning at a tunnel face based on multimodal image recognition according to claim 2, characterized in that: Extracting the center line of the tunnel face from the tunnel face contour includes: Extracting the coordinates of the center point of the ellipse of the tunnel face contour, and using a vertical line passing through the coordinates of the center point of the ellipse as an initial center line; Sampling the tunnel face contours on both sides of the initial center line respectively to obtain sampling point coordinates; Calculate the contour symmetry error of the left and right halves based on the coordinates of the sampling points on both sides of the initial midline , where the profile symmetry error The mathematical expression is: Where, is located to the left of the initial midline The coordinates of the sampling points, is located to the right of the initial midline The coordinates of the sampling points, represents the mirror transformation function based on the initial midline, is the number of sampling points; The profile symmetry error The symmetry error of the contour is compared with the preset threshold value. When the value is less than or equal to a preset threshold, the initial center line is determined to be the center line of the tunnel face.

4. The laser projection method for blasthole positioning at a tunnel face based on multimodal image recognition according to claim 3 is characterized in that: Determining initial hole position coordinates of a plurality of blastholes based on the center line includes: Based on the center line, a plurality of transverse baselines perpendicular to the center line and a plurality of longitudinal baselines parallel to the center line are generated on the palm face, wherein the plurality of longitudinal baselines are symmetrically distributed about the center line, and the spacing between adjacent transverse baselines and the spacing between adjacent longitudinal baselines are fixed values; The intersection of the transverse baseline and the longitudinal baseline is used as the initial hole position coordinates of the multiple blastholes.

5. The laser projection method for blasthole positioning at a tunnel face based on multimodal image recognition according to claim 1, characterized in that: Performing coordinate transformation on the initial hole position coordinates to obtain the projection angle of the laser projector includes: Performing coordinate conversion and pan / tilt angle calculation on the initial empty position coordinates to obtain an initial projection angle; The initial projection angle is compensated based on the real-time calibration position of the target ball of the laser projector to obtain the projection angle of the laser projector.

6. The laser projection method for blasthole positioning at a tunnel face based on multimodal image recognition according to claim 5, characterized in that: The mathematical expressions for converting the initial empty position coordinates and calculating the pan / tilt angle are: Where, is the horizontal rotation angle of the projector, is the projector pitch angle, is the X-axis coordinate extending along the tunnel in the initial empty space coordinate, is the vertical Y-axis coordinate in the initial vacancy coordinate, is the Z-axis coordinate perpendicular to the tunnel wall in the initial void coordinate, This is the installation location of the laser projector in the tunnel.

7. The laser projection method for blasthole positioning at a tunnel face based on multimodal image recognition according to claim 5, characterized in that: The mathematical expression for compensating the initial projection angle is: is the horizontal rotation angle of the projector after compensation, is the projector pitch angle after compensation, is the calibration matrix, is the theoretical position of the target ball, is the measured position of the target ball.

8. Tunnel face blasthole positioning laser projection system based on multimodal image recognition, characterized by: include: An acquisition module is used to obtain the original image of the tunnel face during tunnel construction and the position information of the laser projector; A preprocessing module, configured to preprocess the original image to obtain a preprocessed image, wherein the preprocessing method includes denoising, contrast enhancement, and grayscale conversion; A centerline extraction module, configured to extract a tunnel face contour from the preprocessed image, and extract a centerline of the tunnel face from the tunnel face contour; a positioning module, configured to determine initial hole position coordinates of a plurality of blastholes based on the center line, and perform coordinate conversion on the initial hole position coordinates to obtain a projection angle of a laser projector; A projection module is used to control the laser projector to project the blasthole position onto the tunnel face based on the projection angle.

9. An electronic device, characterized in that: include: processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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